Dartmouth Castle

The castle sits right where the River Dart meets the sea, and the views alone make the short drive from Paignton worthwhile. Built in the 1480s to protect the harbour from French raiders, it's a proper fortress - thick stone walls, gun emplacements, the works. You can walk around the battlements, poke into the old gun rooms, and stand where Tudor soldiers once kept watch for invasion.

It's a straightforward spot. Most people spend an hour here, maybe ninety minutes if you're thorough about reading the interpretive boards. The climb up to the ramparts isn't steep but there are stairs, so it's not ideal for very young children or anyone with mobility issues. The real magic is the setting - water on three sides, the estuary opening out below you, and on a clear day you can see right across to the coastline beyond.

History buffs will get the most from it, especially anyone interested in Tudor England or medieval military architecture. Kids aged seven upwards tend to enjoy scrambling about, though they'll be done faster than you might think. Bring a picnic and sit by the walls afterward - there's decent space for it.

If you're basing yourself at one of the holiday parks nearby - South Bay, Waterside, or Hoburne Devon Bay are all within five miles - this makes an easy half-morning outing combined with a walk along the riverbank or a trip into Dartmouth town itself. Check opening hours before you go; it's an English Heritage site so you'll likely need to pay admission, but it's worth a tenner.